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Adaptive control of a class of uncertain nonlinear systems with unknown input hysteresis

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4 Author(s)
Li Zhifu ; Eng. Res. Center for Precision Electron., Coll. of Autom. Sci. & Eng., Guangzhou, China ; Yuan Peng ; Hu Yueming ; Chen Tiemei

Based on backstepping technique, an adaptive inverse control scheme is proposed for a class of uncertain nonlinear systems preceded by unknown hysteretic nonlinearities which are described by Krasnosel'skii-Pokrovkii (KP) model. The pseudo-inversion is introduced to compensate the hysteresis nonlinearities and the error caused by the hysteresis model and pseudo-inversion is estimated online by the adaptive controller. To avoid the possible chattering caused by the sign function, a smooth adaptive controller is designed. The proposed controller ensures the uniformly ultimate boundedness of the closed-loop system. Simulation results show the effectiveness of the proposed scheme.

Published in:

Information and Automation (ICIA), 2011 IEEE International Conference on

Date of Conference:

6-8 June 2011